X-Git-Url: http://rtime.felk.cvut.cz/gitweb/linux-lin.git/blobdiff_plain/27f5e61b1ab9d29f1e5bc6d2676c747c488a94d8..597b435d5bb9257a74b09e3647f183d5f23a30e0:/sllin/sllin.c diff --git a/sllin/sllin.c b/sllin/sllin.c index bb30cf3..eaf1187 100644 --- a/sllin/sllin.c +++ b/sllin/sllin.c @@ -58,6 +58,7 @@ #include #include #include +#include /* Should be in include/linux/tty.h */ #define N_SLLIN 25 @@ -71,6 +72,7 @@ MODULE_LICENSE("GPL"); MODULE_AUTHOR("Oliver Hartkopp "); #define SLLIN_MAGIC 0x53CA +// #define BREAK_BY_BAUD static int maxdev = 10; /* MAX number of SLLIN channels; This can be overridden with @@ -87,6 +89,9 @@ MODULE_PARM_DESC(maxdev, "Maximum number of sllin interfaces"); #define SLLIN_BUFF_ID 2 #define SLLIN_BUFF_DATA 3 +#define SLLIN_ID_MASK 0x3f +#define SLLIN_ID_MAX SLLIN_ID_MASK + enum slstate { SLSTATE_IDLE = 0, SLSTATE_BREAK_SENT, @@ -95,6 +100,21 @@ enum slstate { SLSTATE_RESPONSE_SENT, }; +struct sllin_conf_entry { + int dlc; /* Length of data in LIN frame */ +#define SLLIN_CANFR_FLAGS_OFFS 6 /* Lower 6 bits in can_id correspond to LIN ID */ +/* Save configuration for particualr LIN ID */ +#define SLLIN_LIN_ID_CONF (1 << SLLIN_CANFR_FLAGS_OFFS) +/* Publisher of particular LIN response is SLLIN Master */ +#define SLLIN_SRC_MASTER (1 << (SLLIN_CANFR_FLAGS_OFFS + 1)) +#define SLLIN_SRC_SLAVE (1 << (SLLIN_CANFR_FLAGS_OFFS + 2)) +#define SLLIN_SLAVE_LOCAL (1 << (SLLIN_CANFR_FLAGS_OFFS + 3)) +#define SLLIN_SLAVE_REMOTE (1 << (SLLIN_CANFR_FLAGS_OFFS + 4)) +#define SLLIN_LOC_SLAVE_CACHE (1 << (SLLIN_CANFR_FLAGS_OFFS + 5)) + canid_t frame_fl; /* LIN frame flags. Passed from userspace as canid_t data type */ + u8 data[8]; /* LIN frame data payload */ +}; + struct sllin { int magic; @@ -107,14 +127,15 @@ struct sllin { unsigned char rx_buff[SLLIN_BUFF_LEN]; /* LIN Rx buffer */ unsigned char tx_buff[SLLIN_BUFF_LEN]; /* LIN Tx buffer */ int rx_expect; /* expected number of Rx chars */ - int rx_lim; /* maximum Rx chars for ID */ + int rx_lim; /* maximum Rx chars for current frame */ int rx_cnt; /* message buffer Rx fill level */ int tx_lim; /* actual limit of bytes to Tx */ int tx_cnt; /* number of already Tx bytes */ char lin_master; /* node is a master node */ int lin_baud; /* LIN baudrate */ int lin_state; /* state */ - int id_to_send; /* there is ID to be sent */ + char id_to_send; /* there is ID to be sent */ + char data_to_send; /* there are data to be sent */ unsigned long flags; /* Flag values/ mode etc */ #define SLF_INUSE 0 /* Channel in use */ @@ -122,10 +143,17 @@ struct sllin { #define SLF_RXEVENT 2 /* Rx wake event */ #define SLF_TXEVENT 3 /* Tx wake event */ #define SLF_MSGEVENT 4 /* CAN message to sent */ +#define SLF_TMOUTEVENT 5 /* Timeout on received data */ dev_t line; struct task_struct *kwthread; wait_queue_head_t kwt_wq; + struct hrtimer rx_timer; /* RX timeout timer */ + ktime_t rx_timer_timeout; /* RX timeout timer value */ + struct sk_buff *rec_skb; /* Socket buffer with received CAN frame */ + + struct sllin_conf_entry linfr_cache[SLLIN_ID_MAX + 1]; /* List with configurations for + each of 0 to SLLIN_ID_MAX LIN IDs */ }; static struct net_device **sllin_devs; @@ -158,7 +186,7 @@ static int sltty_change_speed(struct tty_struct *tty, unsigned speed) if (tty->ops->set_termios) tty->ops->set_termios(tty, &old_termios); - //priv->io.speed = speed; + mutex_unlock(&tty->termios_mutex); return 0; @@ -168,67 +196,27 @@ static int sltty_change_speed(struct tty_struct *tty, unsigned speed) /* Send one completely decapsulated can_frame to the network layer */ static void sll_bump(struct sllin *sl) { -// struct sk_buff *skb; -// struct can_frame cf; -// int i, dlc_pos, tmp; -// unsigned long ultmp; -// char cmd = sl->rbuff[0]; -// -// if ((cmd != 't') && (cmd != 'T') && (cmd != 'r') && (cmd != 'R')) -// return; -// -// if (cmd & 0x20) /* tiny chars 'r' 't' => standard frame format */ -// dlc_pos = 4; /* dlc position tiiid */ -// else -// dlc_pos = 9; /* dlc position Tiiiiiiiid */ -// -// if (!((sl->rbuff[dlc_pos] >= '0') && (sl->rbuff[dlc_pos] < '9'))) -// return; -// -// cf.can_dlc = sl->rbuff[dlc_pos] - '0'; /* get can_dlc from ASCII val */ -// -// sl->rbuff[dlc_pos] = 0; /* terminate can_id string */ -// -// if (strict_strtoul(sl->rbuff+1, 16, &ultmp)) -// return; -// -// cf.can_id = ultmp; -// -// if (!(cmd & 0x20)) /* NO tiny chars => extended frame format */ -// cf.can_id |= CAN_EFF_FLAG; -// -// if ((cmd | 0x20) == 'r') /* RTR frame */ -// cf.can_id |= CAN_RTR_FLAG; -// -// *(u64 *) (&cf.data) = 0; /* clear payload */ -// -// for (i = 0, dlc_pos++; i < cf.can_dlc; i++) { -// -// tmp = asc2nibble(sl->rbuff[dlc_pos++]); -// if (tmp > 0x0F) -// return; -// cf.data[i] = (tmp << 4); -// tmp = asc2nibble(sl->rbuff[dlc_pos++]); -// if (tmp > 0x0F) -// return; -// cf.data[i] |= tmp; -// } -// -// -// skb = dev_alloc_skb(sizeof(struct can_frame)); -// if (!skb) -// return; -// -// skb->dev = sl->dev; -// skb->protocol = htons(ETH_P_CAN); -// skb->pkt_type = PACKET_BROADCAST; -// skb->ip_summed = CHECKSUM_UNNECESSARY; -// memcpy(skb_put(skb, sizeof(struct can_frame)), -// &cf, sizeof(struct can_frame)); -// netif_rx(skb); -// -// sl->dev->stats.rx_packets++; -// sl->dev->stats.rx_bytes += cf.can_dlc; + struct sk_buff *skb; + struct can_frame cf; + + cf.can_id = sl->rx_buff[SLLIN_BUFF_ID] & SLLIN_ID_MASK; + cf.can_dlc = sl->rx_cnt - SLLIN_BUFF_DATA; + memcpy(&cf.data, sl->rx_buff + SLLIN_BUFF_DATA, cf.can_dlc); + + skb = dev_alloc_skb(sizeof(struct can_frame)); + if (!skb) + return; + + skb->dev = sl->dev; + skb->protocol = htons(ETH_P_CAN); + skb->pkt_type = PACKET_BROADCAST; + skb->ip_summed = CHECKSUM_UNNECESSARY; + memcpy(skb_put(skb, sizeof(struct can_frame)), + &cf, sizeof(struct can_frame)); + netif_rx(skb); + + sl->dev->stats.rx_packets++; + sl->dev->stats.rx_bytes += cf.can_dlc; } @@ -295,8 +283,8 @@ static void sllin_write_wakeup(struct tty_struct *tty) struct sllin *sl = (struct sllin *) tty->disc_data; /* First make sure we're connected. */ - //if (!sl || sl->magic != SLLIN_MAGIC || !netif_running(sl->dev)) - // return; + if (!sl || sl->magic != SLLIN_MAGIC || !netif_running(sl->dev)) + return; if (sl->lin_state != SLSTATE_BREAK_SENT) remains = sl->tx_lim - sl->tx_cnt; @@ -327,24 +315,28 @@ static netdev_tx_t sll_xmit(struct sk_buff *skb, struct net_device *dev) struct sllin *sl = netdev_priv(dev); if (skb->len != sizeof(struct can_frame)) - goto out; + goto err_out; spin_lock(&sl->lock); if (!netif_running(dev)) { spin_unlock(&sl->lock); printk(KERN_WARNING "%s: xmit: iface is down\n", dev->name); - goto out; + goto err_out; } if (sl->tty == NULL) { spin_unlock(&sl->lock); - goto out; + goto err_out; } netif_stop_queue(sl->dev); - sll_encaps(sl, (struct can_frame *) skb->data); /* encaps & send */ + + sl->rec_skb = skb; + set_bit(SLF_MSGEVENT, &sl->flags); + wake_up(&sl->kwt_wq); spin_unlock(&sl->lock); + return NETDEV_TX_OK; -out: +err_out: kfree_skb(skb); return NETDEV_TX_OK; } @@ -438,26 +430,34 @@ static void sllin_receive_buf(struct tty_struct *tty, printk(KERN_INFO "sllin_receive_buf invoked\n"); - //if (!sl || sl->magic != SLLIN_MAGIC || !netif_running(sl->dev)) - // return; + if (!sl || sl->magic != SLLIN_MAGIC || !netif_running(sl->dev)) + return; /* Read the characters out of the buffer */ while (count--) { if (fp && *fp++) { if (!test_and_set_bit(SLF_ERROR, &sl->flags)) sl->dev->stats.rx_errors++; - printk(KERN_INFO "sllin_receive_buf char 0x%02x ignored due marker 0x%02x, flags 0x%lx\n", + printk(KERN_INFO "sllin_receive_buf char 0x%02x ignored " + "due marker 0x%02x, flags 0x%lx\n", *cp, *(fp-1), sl->flags); cp++; continue; } - if (sl->rx_cnt < SLLIN_BUFF_LEN) { + if (sl->rx_cnt < SLLIN_BUFF_LEN) { +#ifndef BREAK_BY_BAUD + /* We didn't receive Break character */ + if ((sl->rx_cnt == SLLIN_BUFF_BREAK) && (*cp == 0x55)) { + sl->rx_buff[sl->rx_cnt++] = 0x00; + } +#endif + printk(KERN_INFO "LIN_RX[%d]: 0x%02x\n", sl->rx_cnt, *cp); sl->rx_buff[sl->rx_cnt++] = *cp++; } } - if(sl->rx_cnt >= sl->rx_expect) { + if (sl->rx_cnt >= sl->rx_expect) { set_bit(SLF_RXEVENT, &sl->flags); wake_up(&sl->kwt_wq); printk(KERN_INFO "sllin_receive_buf count %d, wakeup\n", sl->rx_cnt); @@ -469,16 +469,33 @@ static void sllin_receive_buf(struct tty_struct *tty, /***************************************** * sllin message helper routines *****************************************/ +int sllin_configure_frame_cache(struct sllin *sl, struct can_frame *cf) +{ + struct sllin_conf_entry *sce; + if (!(cf->can_id & SLLIN_LIN_ID_CONF)) + return -1; + + sce = &sl->linfr_cache[cf->can_id & SLLIN_ID_MASK]; + printk(KERN_INFO "Setting frame cache with EFF CAN frame. " + "LIN ID = %d\n", cf->can_id & SLLIN_ID_MASK); + + sce->dlc = (cf->can_dlc > 8) ? 8 : cf->can_dlc; + sce->frame_fl = (cf->can_id & ~SLLIN_ID_MASK) & CAN_EFF_MASK; + memcpy(sce->data, cf->data, cf->can_dlc); + + return 0; +} int sllin_setup_msg(struct sllin *sl, int mode, int id, unsigned char *data, int len) { - if (id > 0x3f) + if (id > SLLIN_ID_MASK) return -1; sl->rx_cnt = 0; sl->tx_cnt = 0; sl->rx_expect = 0; + sl->rx_lim = SLLIN_BUFF_LEN; sl->tx_buff[SLLIN_BUFF_BREAK] = 0; sl->tx_buff[SLLIN_BUFF_SYNC] = 0x55; @@ -501,7 +518,7 @@ int sllin_setup_msg(struct sllin *sl, int mode, int id, sl->tx_buff[sl->tx_lim++] = csum; } if (len != 0) - sl->rx_lim += len + 1; + sl->rx_lim = SLLIN_BUFF_DATA + len + 1; return 0; } @@ -513,11 +530,14 @@ int sllin_send_tx_buff(struct sllin *sl) int remains; int res; +#ifdef BREAK_BY_BAUD if (sl->lin_state != SLSTATE_BREAK_SENT) remains = sl->tx_lim - sl->tx_cnt; else remains = 1; - +#else + remains = sl->tx_lim - sl->tx_cnt; +#endif res = tty->ops->write(tty, sl->tx_buff + sl->tx_cnt, remains); if (res < 0) @@ -544,47 +564,78 @@ int sllin_send_tx_buff(struct sllin *sl) return 0; } +#ifdef BREAK_BY_BAUD int sllin_send_break(struct sllin *sl) { struct tty_struct *tty = sl->tty; - unsigned long break_baud = sl->lin_baud; - spinlock_t mr_lock = SPIN_LOCK_UNLOCKED; - unsigned long flags; - int retval; + unsigned long break_baud; + int res; -#if 0 - break_baud = ((break_baud * 2) / 3); + break_baud = ((sl->lin_baud * 2) / 3); sltty_change_speed(tty, break_baud); + tty->ops->flush_buffer(tty); + sl->rx_cnt = SLLIN_BUFF_BREAK; + sl->rx_expect = SLLIN_BUFF_BREAK + 1; sl->lin_state = SLSTATE_BREAK_SENT; - retval = sllin_send_tx_buff(sl); - if (retval < 0) { + res = sllin_send_tx_buff(sl); + if (res < 0) { sl->lin_state = SLSTATE_IDLE; return res; } -#else + + return 0; +} +#else /* BREAK_BY_BAUD */ + +int sllin_send_break(struct sllin *sl) +{ + struct tty_struct *tty = sl->tty; + unsigned long break_baud; + unsigned long flags; + int retval; + + sl->rx_cnt = SLLIN_BUFF_BREAK; + sl->rx_expect = SLLIN_BUFF_BREAK + 1; + sl->lin_state = SLSTATE_BREAK_SENT; + /* Do the break ourselves; Inspired by http://lxr.linux.no/#linux+v3.1.2/drivers/tty/tty_io.c#L2452 */ - - spin_lock_irqsave(&mr_lock, flags); retval = tty->ops->break_ctl(tty, -1); if (retval) - goto out; + return retval; - udelay(712); - //usleep_range(650, 750); + //udelay(712); + usleep_range(650, 750); retval = tty->ops->break_ctl(tty, 0); -out: - spin_unlock_irqrestore(&mr_lock, flags); + usleep_range(50, 100); + + tty->ops->flush_buffer(tty); + + sl->tx_cnt = SLLIN_BUFF_SYNC; + + printk(KERN_INFO "sllin: Break sent.\n"); + set_bit(SLF_RXEVENT, &sl->flags); + wake_up(&sl->kwt_wq); - sl->lin_state = SLSTATE_BREAK_SENT; -#endif - //return retval; return 0; } +#endif /* BREAK_BY_BAUD */ + + +static enum hrtimer_restart sllin_rx_timeout_handler(struct hrtimer *hrtimer) +{ + struct sllin *sl = container_of(hrtimer, struct sllin, rx_timer); + + set_bit(SLF_TMOUTEVENT, &sl->flags); + wake_up(&sl->kwt_wq); + + return HRTIMER_NORESTART; +} + /***************************************** * sllin_kwthread - kernel worker thread @@ -594,30 +645,33 @@ int sllin_kwthread(void *ptr) { struct sllin *sl = (struct sllin *)ptr; struct tty_struct *tty = sl->tty; + struct sched_param schparam = { .sched_priority = 40 }; int res; + struct can_frame *cf; + char *lin_data; + int lin_dlc; + int tx_bytes = 0; /* Used for Network statistics */ + printk(KERN_INFO "sllin: sllin_kwthread started.\n"); + sched_setscheduler(current, SCHED_FIFO, &schparam); clear_bit(SLF_ERROR, &sl->flags); - sltty_change_speed(tty, sl->lin_baud); - sllin_setup_msg(sl, 0, 0x33, NULL, 0); - sl->id_to_send = 1; - while (!kthread_should_stop()) { - if ((sl->lin_state == SLSTATE_IDLE) && sl->lin_master && sl->id_to_send) { - if(sllin_send_break(sl)<0) { + if(sllin_send_break(sl) < 0) { /* error processing */ } - } wait_event_killable(sl->kwt_wq, kthread_should_stop() || test_bit(SLF_RXEVENT, &sl->flags) || - test_bit(SLF_TXEVENT, &sl->flags)); + test_bit(SLF_TXEVENT, &sl->flags) || + test_bit(SLF_TMOUTEVENT, &sl->flags) || + ((sl->lin_state == SLSTATE_IDLE) && test_bit(SLF_MSGEVENT, &sl->flags))); if (test_and_clear_bit(SLF_RXEVENT, &sl->flags)) { printk(KERN_INFO "sllin_kthread RXEVENT \n"); @@ -627,33 +681,136 @@ int sllin_kwthread(void *ptr) printk(KERN_INFO "sllin_kthread TXEVENT \n"); } + if (test_and_clear_bit(SLF_TMOUTEVENT, &sl->flags)) { + printk(KERN_INFO "sllin_kthread TMOUTEVENT \n"); + sl->rx_cnt = 0; + sl->rx_expect = 0; + sl->rx_lim = sl->lin_master ? 0 : SLLIN_BUFF_LEN; + sl->tx_cnt = 0; + sl->tx_lim = 0; + sl->id_to_send = false; + sl->data_to_send = false; + + sl->lin_state = SLSTATE_IDLE; + } + + if ((sl->lin_state == SLSTATE_IDLE) && test_bit(SLF_MSGEVENT, &sl->flags)) { + cf = (struct can_frame *)sl->rec_skb->data; + + /* EFF CAN frame -> "Configuration" frame */ + if (cf->can_id & CAN_EFF_FLAG) { + sllin_configure_frame_cache(sl, cf); + goto free_skb; + } /* SFF RTR CAN frame -> LIN header */ + else if (cf->can_id & CAN_RTR_FLAG) { + printk(KERN_INFO "%s: RTR SFF CAN frame, ID = %x\n", + __FUNCTION__, cf->can_id & SLLIN_ID_MASK); + + /* Is there Slave response in linfr_cache to be sent? */ + if ((sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].frame_fl & + SLLIN_LOC_SLAVE_CACHE) + && (sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].dlc > 0)) { + + printk(KERN_INFO "Sending LIN response from linfr_cache\n"); + lin_data = &sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].data; + lin_dlc = sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].dlc; + } else { + lin_data = NULL; + lin_dlc = 0; + } + } else { /* SFF NON-RTR CAN frame -> LIN header + LIN response */ + printk(KERN_INFO "%s: NON-RTR SFF CAN frame, ID = %x\n", + __FUNCTION__, (int)cf->can_id & SLLIN_ID_MASK); + + lin_data = cf->data; + lin_dlc = tx_bytes = cf->can_dlc; + } + + if (sllin_setup_msg(sl, 0, cf->can_id & SLLIN_ID_MASK, + lin_data, lin_dlc) != -1) { + + sl->id_to_send = true; + sl->data_to_send = (lin_dlc > 0) ? true : false; + sl->dev->stats.tx_packets++; + sl->dev->stats.tx_bytes += tx_bytes; + } + + free_skb: + clear_bit(SLF_MSGEVENT, &sl->flags); + kfree_skb(sl->rec_skb); + netif_wake_queue(sl->dev); + } + switch (sl->lin_state) { case SLSTATE_BREAK_SENT: +#ifdef BREAK_BY_BAUD if (sl->rx_cnt <= SLLIN_BUFF_BREAK) continue; - //res = sltty_change_speed(tty, sl->lin_baud); + res = sltty_change_speed(tty, sl->lin_baud); +#endif + sl->lin_state = SLSTATE_ID_SENT; sllin_send_tx_buff(sl); + break; - sl->lin_state = SLSTATE_ID_SENT; + case SLSTATE_ID_SENT: + sl->id_to_send = false; + if (sl->data_to_send) { + sllin_send_tx_buff(sl); + sl->lin_state = SLSTATE_RESPONSE_SENT; + sl->rx_expect = sl->tx_lim; + goto slstate_response_sent; + } else { + sl->rx_expect = SLLIN_BUFF_DATA + 2; + sl->lin_state = SLSTATE_RESPONSE_WAIT; + /* If we don't receive anything, timer will "unblock" us */ + hrtimer_start(&sl->rx_timer, + ktime_add(ktime_get(), sl->rx_timer_timeout), + HRTIMER_MODE_ABS); + goto slstate_response_wait; + } + break; + case SLSTATE_RESPONSE_WAIT: + slstate_response_wait: + if (sl->rx_cnt < sl->rx_expect) + continue; + + hrtimer_cancel(&sl->rx_timer); + printk(KERN_INFO "sllin: response received ID %d len %d\n", + sl->rx_buff[SLLIN_BUFF_ID], sl->rx_cnt - SLLIN_BUFF_DATA - 1); + // FIXME: check checksum in sl->rx_buff + + // send CAN non-RTR frame with data + printk(KERN_INFO "sllin: sending NON-RTR CAN frame with LIN payload."); + sll_bump(sl); //send packet to the network layer + sl->id_to_send = false; + sl->lin_state = SLSTATE_IDLE; break; - case SLSTATE_ID_SENT: - sl->id_to_send = 0; + + case SLSTATE_RESPONSE_SENT: + slstate_response_sent: + if (sl->rx_cnt < sl->tx_lim) + continue; + + sll_bump(sl); //send packet to the network layer + printk(KERN_INFO "sllin: response sent ID %d len %d\n", + sl->rx_buff[SLLIN_BUFF_ID], sl->rx_cnt - SLLIN_BUFF_DATA - 1); + + sl->id_to_send = false; sl->lin_state = SLSTATE_IDLE; break; } - /* sll_bump(sl); send packet to the network layer */ /* sl->dev->stats.tx_packets++; send frames statistic */ /* netif_wake_queue(sl->dev); allow next Tx packet arrival */ } - + hrtimer_cancel(&sl->rx_timer); printk(KERN_INFO "sllin: sllin_kwthread stopped.\n"); return 0; @@ -725,7 +882,6 @@ static struct sllin *sll_alloc(dev_t line) } sl = netdev_priv(dev); - /* Initialize channel control data */ sl->magic = SLLIN_MAGIC; sl->dev = dev; @@ -785,16 +941,29 @@ static int sllin_open(struct tty_struct *tty) if (!test_bit(SLF_INUSE, &sl->flags)) { /* Perform the low-level SLLIN initialization. */ - sl->rx_cnt = 0; + sl->lin_master = true; + + sl->rx_cnt = 0; sl->rx_expect = 0; - sl->tx_cnt = 0; - sl->tx_lim = 0; + sl->rx_lim = sl->lin_master ? 0 : SLLIN_BUFF_LEN; + sl->tx_cnt = 0; + sl->tx_lim = 0; + sl->id_to_send = false; + sl->data_to_send = false; sl->lin_baud = 19200; - sl->lin_master = 1; sl->lin_state = SLSTATE_IDLE; +#define SAMPLES_PER_CHAR 10 +#define CHARS_TO_TIMEOUT 12 + hrtimer_init(&sl->rx_timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL); + sl->rx_timer.function = sllin_rx_timeout_handler; + /* timeval_to_ktime(msg_head->ival1); */ + sl->rx_timer_timeout = ns_to_ktime( + (1000000000 / sl->lin_baud) * + SAMPLES_PER_CHAR * CHARS_TO_TIMEOUT); + set_bit(SLF_INUSE, &sl->flags); init_waitqueue_head(&sl->kwt_wq);